Modular image capture systems

ABSTRACT

Systems and methods are disclosed for image capture. For example, systems may include an image capture module including an image sensor configured to capture images, a connector, and an integrated mechanical stabilization system configured to control an orientation of the image sensor relative to the connector; an aerial vehicle configured to be removably attached to the image capture module by the connector and to fly while carrying the image capture module; and a handheld module configured to be removably attached to the image capture module by the connector, wherein the handheld module includes a battery and an integrated display configured to display images received from the image sensor.

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of U.S. Provisional Application No.62/614,140, filed Jan. 5, 2018, the contents of which are incorporatedby reference herein in their entirety.

TECHNICAL FIELD

This disclosure relates to modular image capture systems.

BACKGROUND

Image capture devices, such as cameras, may capture content as images orvideo. Drones have been used to carry cameras and to enable capture ofimages from the air. Drones with attached cameras are typicallycontrolled by controllers via a wireless communications link. Mechanicalstabilization systems (e.g., gimbals and motors) have been used withdrone based cameras to reduce distortion or shakiness of captured imagesthat can be caused by vibrations and other motions of a drone duringcapture.

SUMMARY

Disclosed herein are implementations of modular image capture systems.

In a first aspect, the subject matter described in this specificationcan be embodied in systems that include an image capture moduleincluding an image sensor configured to capture images, a connector, andan integrated mechanical stabilization system configured to control anorientation of the image sensor relative to the connector; an aerialvehicle configured to be removably attached to the image capture moduleby the connector and to fly while carrying the image capture module; anda handheld module configured to be removably attached to the imagecapture module by the connector, wherein the handheld module includes abattery and an integrated display configured to display images receivedfrom the image sensor.

In a second aspect, the subject matter described in this specificationcan be embodied in methods that include connecting an image capturemodule, which includes an image sensor and an integrated mechanicalstabilization system, to an aerial vehicle; flying the aerial vehiclewith the image capture module attached to the aerial vehicle andcapturing a first image with the image sensor while flying;disconnecting the image capture module from the aerial vehicle;connecting the image capture module to a handheld module, which includesa battery and an integrated display; and capturing a second image withthe image sensor while the image capture module is attached to thehandheld module and drawing power from the battery.

In a third aspect, the subject matter described in this specificationcan be embodied in image capture modules that include an image sensorconfigured to capture images; a mechanical stabilization system,including gimbals and motors, that is integrated with the image sensorin the image capture module and configured to control an orientation ofthe image sensor; and a connector configured to interchangeably connectthe mechanical stabilization system to an aerial vehicle in a firstusage scenario and a handheld module in a second usage scenario, whereina gimbal of the mechanical stabilization system is substantially flushwith a surface of the connector.

These and other aspects of the present disclosure are disclosed in thefollowing detailed description, the appended claims, and theaccompanying figures.

BRIEF DESCRIPTION OF THE DRAWINGS

The disclosure is best understood from the following detaileddescription when read in conjunction with the accompanying drawings.

FIG. 1A is a block diagram of an example of a movable imaging systemwith modular components in a first usage scenario.

FIG. 1B is a block diagram of an example of a movable imaging systemwith modular components in a second usage scenario.

FIG. 2A is a pictorial illustration of an example of an image capturemodule from a first perspective.

FIG. 2B is a pictorial illustration of an example of an image capturemodule from a second perspective.

FIG. 3A is a pictorial illustration of an example of a handheld modulefrom a first perspective.

FIG. 3B is a pictorial illustration of an example of a handheld modulefrom a second perspective.

FIG. 4A is a pictorial illustration of an example of a handheld moduleoriented to be connected to an image capture module.

FIG. 4B is a pictorial illustration of an example of a movable imagingassembly in communication with a personal computing device.

FIG. 5A is a pictorial illustration of an example of an aerial vehicle.

FIG. 5B is a pictorial illustration of an example of a movable imagingassembly in communication with a controller module and a beacon module.

FIG. 6A is a pictorial illustration of an example of a controllermodule.

FIG. 6B is a pictorial illustration of an example of a beacon module.

FIG. 7A is a block diagram of an example of a system configured forimage capture.

FIG. 7B is a block diagram of an example of a system configured forimage capture.

FIG. 8 is a flowchart of an example of a process for utilizing a movableimaging system with modular components in multiple usage scenarios.

FIG. 9 is a flowchart of an example of a process for controlling amovable imaging assembly for image capture using a controller module anda beacon module.

FIG. 10 is a flowchart of an example of a process for displaying imagescaptured with an image capture module on a connected handheld module.

DETAILED DESCRIPTION

This document includes disclosure of modular image capture systems andtechniques for image capture. An image capture module is described thatincludes an image sensor, a mechanical stabilization system (e.g.,including gimbals and motors) that is integrated with the image sensorin the image capture module and configured to control an orientation ofthe image sensor, and a connector configured to interchangeably connectthe mechanical stabilization system to an aerial vehicle and a handheldmodule. The image capture module can be easily connected to differentmovable platforms, including the aerial vehicle and the handheld module,to suit different circumstances and usage scenarios. By integrating themechanical stabilization system in the image capture module, a morereliable and light weight attachment is provided between the mechanicalstabilization system and the image sensor as compared to systems with aseparable mechanical stabilization system.

The weight of the combination of the image capture module and the aerialvehicle is an important design consideration that effects performance interms of maneuverability and power consumption, which directly effectsusable battery time. The weight of the combination of the image capturemodule and the aerial vehicle can be further reduced by omitting adisplay and a battery from the image capture module (or including aconsiderably smaller battery) and instead incorporating a display and abattery in the handheld module, which can provide the power and controlinterface suited for handheld usage scenarios.

The proposed modular image capture systems and methods may offeradvantages over conventional image capture systems. For example, thequality of captured images may be improved (e.g., by reducing blur andother motion artifacts and distortions) across a variety of usagescenarios by a mechanical stabilization system that is integrated intothe image capture module that can be easily and interchangeably attachedto a variety of movable platforms suited to those usage scenarios. Forexample, the weight of a movable imaging assembly including an aerialvehicle and the image capture module may be reduced, resulting in lowerpower consumption, longer battery usage times, greater maneuverability,and improved safety by reducing the risk of injuries or damage fromcollisions.

Implementations are described in detail with reference to the drawings,which are provided as examples to enable those skilled in the art topractice the technology. The figures and examples are not meant to limitthe scope of the present disclosure to a single implementation orembodiment, and other implementations and embodiments are possible byway of interchange of, combination with, and/or removal of some or allof the described or illustrated elements. Wherever convenient, the samereference numbers will be used throughout the drawings to refer to sameor like parts.

FIG. 1A is a block diagram of an example of a movable imaging system 100with modular components in a first usage scenario. The movable imagingsystem 100 includes an image capture module 110 with an integratedmechanical stabilization system, an aerial vehicle 120, a handheldmodule 130, a controller module 140, and a beacon module 150. The imagecapture module 110 includes a connector that enables the aerial vehicle120 and the handheld module 130 to be removably attached to the imagecapture module 110 as movable platforms for image capture in differentusage scenarios. The connector may be mechanical and/or electrical. Inthis first usage scenario of FIG. 1A, the aerial vehicle 120 is attachedto the image capture module 110 to form a movable imaging assembly 160that may be used to capture images (e.g., still images or video) whilethe movable imaging assembly 160 moves in response to signals from thecontroller module 140 and/or the beacon module 150. In this first usagescenario of FIG. 1A, the handheld module 130 is disconnected from theimage capture module 110.

The image capture module 110 includes an image sensor configured tocapture images, a connector, and an integrated mechanical stabilizationsystem configured to control an orientation of the image sensor relativeto the connector. For example, the image capture module 110 may be theimage capture module 200 of FIGS. 2A and 2B. The mechanicalstabilization system is integrated in the sense that it is a part of theimage capture module 110 that cannot be easily removed without the useof tools or damaging the image capture module 110. For example, themechanical stabilization system may include gimbals (e.g., threegimbals) and motors that are configured to control an orientation of theimage sensor relative to the connector. The mechanical stabilizationsystem may enable capture of high quality images with low blur and/orreduced shaking or other motion between images in a sequence of images(e.g., frames of video). In some implementations, the mechanicalstabilization system enables or improves subject tracking functions, inwhich a position and/or orientation of the image sensor is activelycontrolled to follow an object (e.g., a person) appearing a field ofview of the image sensor. Having the mechanical stabilization systemintegrated avoids the use of a potentially unreliable connection betweenthe mechanical stabilization system and the image sensor and can reducethe size and weight of the materials used to attached the mechanicalstabilization system to the image sensor. Size and weight are generallyimportant considerations in electronics, but they may be particularlysignificant in applications, like the first usage scenario of FIG. 1A,where the image capture module 110 including the image sensor and themechanical stabilization system will be carried by the aerial vehicle120. Reducing weight of the movable imaging assembly 160 may serve todecrease power consumption to increase battery time. Reducing weight ofthe movable imaging assembly 160 may also enable compliance with safetyregulations applicable to the operation of the aerial vehicle 120 thatlimit weight of aerial vehicles.

The connector may be male or female. For example, the connector of theimage capture module 110 may be keyed to a slot of the aerial vehicle120 and keyed to a slot of the handheld module 130. The connector may bekeyed by virtue of the shape of an outer surface of the connector, whichis fitted to the corresponding shape of the slot in the aerial vehicle120 and the corresponding shape in the slot of the handheld module 130.The keyed shape of the connector may include some asymmetry, which mayfacilitate easy connection of the aerial vehicle 120 and the handheldmodule 130 to the image capture module 110 by preventing a user fromaccidentally inserting the connector in an improper orientation. In someimplementations, the connector includes one or more fastening mechanisms(e.g., latches) for securing a connection. The connector may include anelectrical connector (e.g., a universal serial bus (USB) type Cconnector) nested inside of the keyed outer portion of the connector.The electrical connector may include multiple conductors that can beused to provide power from the aerial vehicle 120 to the image capturemodule 110 and transfer communication signals (e.g., USB 2.0, USB 3.0,I2C, SPI, and/or MIPI (Mobile Industry Processor Interface) signals)between the aerial vehicle 120 and the image capture module 110 whenthey are connected. For example, conductors of the connection may beused to transfer power, high-speed bulk data transfers, real-timeembedded control signaling, and/or raw video signals at a capture framerate. For example, the connector may include pairs of conductorsrespectively used to transfer power to the image capture module 110,bulk transfer data from the image capture module 110, transfer controlsignals to the image capture module 110, and transfer real-time videodata from the image capture module 110. In some implementations, theconnector lacks conductors for the transfer of data and/or power betweenthe image capture module 110 and an attached movable platform (e.g., theaerial vehicle 120 in this first usage scenario). Power and/or data maybe transferred wirelessly at short-range between the image capturemodule 110 and an attached movable platform. For example, the connectormay include an interface for establishing a short-range, high-speedwireless link (e.g., employing technology promoted by Keyssa, Inc.,which may be referred to as “Kiss Connectivity”) for transferring dataat suitable video capture data rates between the image capture module110 and an attached movable platform. For example, the connector mayinclude an interface (e.g., wireless charging interface or a near fieldcommunications interface) for inductively coupling power between theimage capture module 110 and an attached movable platform. In someimplementations, having a connector with fewer or no conductors mayresult in a more durable or reliable connector.

The image sensor of the image capture module 110 is configured tocapture images (e.g., still images or frames of video). The image sensormay be configured to detect light of a certain spectrum (e.g., thevisible spectrum or the infrared spectrum) and convey informationconstituting an image as electrical signals (e.g., analog or digitalsignals). For example, the image sensor may include charge-coupleddevices (CCD) or active pixel sensors in complementarymetal-oxide-semiconductor (CMOS). The image sensor may include ananalog-to-digital converter and output digital image data. The imagesensor may detect light incident through a lens (e.g., a rectilinearlens or a fisheye lens). In some implementations, the image capturemodule 110 includes multiple image sensors that have respective fieldsof view that overlap and images captured by these image sensors may bestitched together to generate composite images (e.g., panoramic images).

The movable imaging system 100 includes an aerial vehicle 120 (e.g., adrone) configured to be removably attached to the image capture module110 by the connector and to fly while carrying the image capture module110. The aerial vehicle 120 may be removably attached in the sense thata user can quickly connect and disconnect the aerial vehicle 120 fromthe image capture module 110 without using a tool (e.g., by engaging ordisengaging one or more latches, rotary-type mechanisms, or click-typemechanisms using fingers). The aerial vehicle 120 may include a slotthat fitted to the connector of the image capture module 110, in whichthe connector may be inserted. For example, the aerial vehicle 120 mayinclude an electrical connector (e.g., a USB type C connector) nested inthe slot that includes multiple conductors configured to transfer imagesand other data and control signals between the aerial vehicle 120 andthe image capture module 110 when they are connected to form the movableimaging assembly 160. The nested electrical connector may further secureor guide the image capture module 110 into within the slot of the aerialvehicle 120. For example, the aerial vehicle 120 may be a quadcopter. Inthe first usage scenario of FIG. 1A, the aerial vehicle 120 is connectedto the image capture module 110. For example, the aerial vehicle 120 maybe the aerial vehicle 500 of FIG. 5.

The movable imaging system 100 includes a beacon module 150 configuredto wirelessly transmit position data to the aerial vehicle 120 to enablethe aerial vehicle 120 to follow the beacon module 150. The positiondata may be transmitted via a wireless link 155. For example, the beaconmodule 150 may include a global positioning system (GPS) receiver andthe position data may include GPS coordinates of the beacon module 150.In some implementations, the beacon module 150 includes an inertialmeasurement unit (e.g., including accelerometers, gyroscopes, and/ormagnetometers) and the position data includes changes in the positionand/or orientation of the beacon module 150 that are sensed by theinertial measurement unit. For example, the wireless link 155 mayutilize a wireless interface standard, such as WiFi, Bluetooth (BT),cellular data link, ZigBee, ANT+ link, or other wireless protocols. Insome implementations, the aerial vehicle 120 is configured to follow auser based on position data from the beacon module 150 and based oncomputer vision tracking of the user in images from the image capturemodule. For example, quadratic estimation techniques (e.g., a Kalmanfilter) may be used to fuse position data from the beacon module 150with computer vision features to estimate the position of a user holdingor wearing the beacon module 150, and the position and/or orientation ofthe aerial vehicle 120 and the image sensor of the attached imagecapture module 110 may be controlled based on the estimate of theposition of the user. For example, this control of the image sensorfield of view may be actuated using the control surfaces (e.g.,propellers) of the aerial vehicle 120 and/or the mechanicalstabilization system (e.g., gimbals) of the image capture module 110. Insome implementations, the beacon module 150 includes a user interface(e.g., including buttons and a display) that allows a user holding thebeacon module 150 to issue commands to the movable imaging assembly 160via the wireless link 155. For example, a user may issue commands tocause the movable imaging assembly 160 to follow the user, to pausefollowing the user and hover in place, or to take-off or land. Forexample, the beacon module 150 may be the beacon module 650 of FIG. 6B.

The movable imaging system 100 includes a controller module 140configured to wirelessly communicate with the aerial vehicle 120 tocontrol motion of the aerial vehicle 120 and capture of images using theimage sensor while the image capture module 110 is attached to theaerial vehicle 120. The controller module 140 includes a user interface(e.g., joysticks, buttons, and/or a touch-screen display) that allows auser to enter commands to control motion of the movable imaging assembly160 and the capture of images. Information (e.g., control signals and/orimage data) may be transferred between the movable imaging assembly 160and the controller module via the wireless link 145. For example, thewireless link 145 may utilize a wireless interface standard, such asWiFi, Bluetooth (BT), cellular data link, ZigBee, ANT+ link, or otherwireless protocols. For example, images (e.g., still images or video atfull resolution or at reduced resolution) captured by the movableimaging assembly 160 may be received by the controller module 140 anddisplayed on a touch-screen display to the user. In someimplementations, the aerial vehicle 120 is configured to communicatewirelessly with both the beacon module 150 and the controller module140. Communicating with both the beacon module 150 and the controllermodule 140 may allow a first user to actively monitor and/or controlimage capture of the images by the movable imaging assembly 160 from thecontroller module 140 while the movable imaging assembly 160 follows asecond user or other object that is bearing the beacon module 150passively while moving. This may enhance hands-free following of asubject and enable following objects (e.g., a dog or a car) that areunable to issue commands to the movable imaging assembly 160 or make theexperience of being followed more natural and less mentally taxing forthe second user, so the second user can focus their attention on otheractivities (e.g., running, celebrating, soccer, skateboarding,motocross, surfing, snowboarding). The first user can focus onoptimizing other aspects of image capture (e.g., choosing perspective onthe subject, zooming, or timing snaps of still images) while theautonomous functions of the aerial vehicle 120 handle the following andnavigation tasks. For example, the controller module 140 may be thecontroller module 600 of FIG. 6A.

FIG. 1B is a block diagram of the movable imaging system 100 withmodular components in a second usage scenario. In this second usagescenario of FIG. 1B, the handheld module 130 is attached to the imagecapture module 110 to form a movable imaging assembly 162 that may beused to capture images (e.g., still images or video) while the movableimaging assembly 162 moves in the hand of a user and/or in response tosignals from the controller module 140 and/or the beacon module 150. Inthis second usage scenario of FIG. 1B, the aerial vehicle 120 isdisconnected from the image capture module 110.

The movable imaging system 100 includes a handheld module 130 configuredto be removably attached to the image capture module 110 by theconnector. In some implementations, the handheld module 130 includes abattery and an integrated display configured to display images receivedfrom the image sensor (e.g., received via conductors of the connector ora short-range-high, high-speed wireless link). The handheld module 130may be removably attached in the sense that a user can quickly connectand disconnect the handheld module 130 from the image capture module 110without using a tool (e.g., by engaging or disengaging one or morelatches, rotary-type mechanisms, or click-type mechanisms usingfingers). In the second usage scenario of FIG. 1B, the handheld module130 is connected to the image capture module 110. For example, thehandheld module 130 may be the handheld module 300 of FIGS. 3A and 3B.

The handheld module 130 may include a slot that fitted to the connectorof the image capture module 110, in which the connector may be inserted.For example, the handheld module 130 may include an electrical connector(e.g., a USB type C connector) nested in the slot that includes multipleconductors configured to transfer images and other data and controlsignals between the handheld module 130 and the image capture module 110when they are connected to form the movable imaging assembly 162. Thenested electrical connector may further secure or guide the imagecapture module 110 into within the slot of the handheld module 130. Theslot of the handheld module 130 may include one or more fasteningmechanisms configured to secure the attachment of the handheld module130 to the connector during the second usage scenario of FIG. 1B. Insome implementations, the handheld module 130 includes a first fasteningmechanism and a second fastening mechanism (e.g., latches, clasps, orrotating mechanisms) configured to secure the connector when the imagecapture module is attached to the handheld module. The fasteningmechanisms may be positioned such that either of the first fasteningmechanism and second fastening mechanism is sufficient to secure theconnector. In some implementations, a gimbal (e.g., a roll gimbal) ofthe mechanical stabilization system is substantially flush with asurface of the handheld module 130 when the image capture module isattached to the handheld module 130.

In the second usage scenario of FIG. 1B, for example, the movableimaging assembly 162 may be carried in a hand of a user who is able topoint the image sensor at subjects for image capture and control imagecapture through a user interface (e.g., buttons and/or a touchscreen) ofthe handheld module 130. The user may view or preview captured images ona display of the handheld module 130. The battery of the handheld module130 may provide power to the image capture module 110 during the secondusage scenario.

In the second usage scenario of FIG. 1B, for example, the movableimaging assembly 162 may be mounted on a person or an object using afastening article (e.g., a strap or helmet mount). For example, a skiermay wear a strap or vest with a portion configured to hold the movableimaging assembly 162 in place on a portion of the skier's body (e.g., onthe arm or chest) to capture images from their perspective as they movewith their hands free down a slope. For example, the movable imagingassembly 162 may be positioned or mounted in a fixed location (e.g., ona tree branch or resting on the surface of a table). The movable imagingassembly 162 may be controlled by the controller module 140 and/or thebeacon module 150 while mounted to adjust an orientation of the imagesensor using the mechanical stabilization system (e.g., three gimbalsand motors) and control other image capture features (e.g., snap a stillimage or adjust exposure time). Information (e.g., control signalsand/or image data) may be transferred between the movable imagingassembly 162 and the controller module via the wireless link 147. Forexample, the wireless link 147 may utilize a wireless interfacestandard, such as WiFi, Bluetooth (BT), cellular data link, ZigBee, ANT+link, or other wireless protocols. For example, images (e.g., stillimages or video at full resolution or at reduced resolution) captured bythe movable imaging assembly 162 may be received by the controllermodule 140 and displayed on a touch-screen display to the user. Themovable imaging assembly 162 may wirelessly receive position data fromthe beacon module 150 to enable the image sensor to follow the beaconmodule 150 by adjusting the orientation of the image sensor using themechanical stabilization system. The position data may be received via awireless link 157. For example, the wireless link 155 may utilize awireless interface standard, such as WiFi, Bluetooth (BT), cellular datalink, ZigBee, ANT+ link, or other wireless protocols. In someimplementations, the movable imaging assembly 162 is configured tocommunicate wirelessly with both the beacon module 150 and thecontroller module 140 to enable following of a subject with the beaconmodule 150 with some supervision from a user of the controller module140.

Although not explicitly shown in FIGS. 1A and 1B, the movable imagingsystem 100 may include additional components to facilitate image captureunder diverse and potentially motion intensive circumstances. Forexample, the movable imaging system 100 may include a detachable flightbattery for powering the aerial vehicle 120 and an AC charger forquickly charging the flight battery between flights in the first usagescenario. In some implementations, multiple detachable flight batteriesare included in the movable imaging system 100 to continue use while adetachable flight battery is charging. For example, the movable imagingsystem 100 may include an AC charger for quickly charging the handheldmodule 130. For example, the movable imaging system 100 may include amounting device (e.g., a strap, helmet mount, or mini tripod or widebase) for the handheld module 130. For example, the movable imagingsystem 100 may include one or more carrying cases for components of themovable imaging system 100. For example, the movable imaging system 100may include cables (e.g., USB type C cable and HDMI cable) that can beused to connect a personal computing device (e.g., a smartphone, atablet, or a laptop) to the image capture module 110, the aerial vehicle120, and/or the handheld module 130 to perform bulk transfers of data(e.g., image data) and/or update software running on a processingapparatus of these components of the movable imaging system 100. Anapplication may be installed on one or more external computing devices(e.g., a smartphone, a tablet, or a laptop) to facilitate pulling andsharing captured video content from the image capture module 110 andfacilitating software upgrades to the image capture module 110, theaerial vehicle 120, the handheld module 130, and/or the controllermodule 140. The one or more external computing devices may communicatewith the image capture module 110 via a wireless communications link ora wired communications link (e.g., a HDMI link). The application runningon the external computing device may be configured to perform a varietyof operations related to camera configuration, control of videoacquisition, and/or display of video captured by the image capturemodule 110. An application (e.g., GoPro App) may enable a user to createshort video clips and share video clips to a cloud service (e.g., cloudservices commercially available from Instagram, Facebook, YouTube, orDropbox); perform remote control of functions of the image capturemodule 110; live preview video being captured for shot framing; mark keymoments while recording (e.g., HiLight Tag, View HiLight Tags in GoProCamera Roll) for location and/or playback of video highlights;wirelessly control camera software; and/or perform other functions.

There may be multiple microphones positioned on the modular componentsof the movable imaging system 100. For example, an image capture module110 may include two microphones positioned to facilitate the capture ofstereo sound. For example, a single microphone may be included in thehandheld module 130 (e.g., positioned on or near a side of the handheldmodule 130 that includes a display (e.g., the display 310). Themicrophone of the handheld module 130 may be used enable the suppressionof wind noise. Having microphones on the image capture module 110 andthe handheld module 130 may provide for diverse, well-spaced microphonelocations on the movable imaging assembly 162, which may enable orimprove noise suppression functions. A microphone located on the side ofthe handheld module 130 with the display may facilitate recording videowith sound in a selfie use case for the movable imaging assembly 162.Having a single microphone in the handheld module may also reducebattery draining. In some implementations, multiple microphones areincluded on the handheld module 130 (e.g., to support the capture ofstereo sound).

In some implementations, the movable imaging system 100 includesadditional movable platforms that are configured to be removablyattached to the image capture module 110 by the connector. For example,additional aerial vehicles with different size and range may beincluded. For example, an automated or autonomous land-based movablevehicle (e.g., a remote control car) may be included the movable imagingsystem 100 to support image capture in different circumstances, such asduring a road race.

In some implementations, the movable imaging system 100 includesadditional image capture modules with a connector like the connector ofthe image capture module 110 that is compatible to be removably attachedto the aerial vehicle 120 and the handheld module 130. This may enableswapping out different versions of the image capture module 110 totailor image capture capabilities to different usage scenarios. Forexample, some image capture modules may have only a single image sensor,while some image capture modules may have multiple image sensors andsupport panoramic image capture with stitching.

In some implementations, the handheld module 130 may be configured tocontrol the movable imaging assembly 160 during the first usage scenarioof FIG. 1A via wireless link. For example, the handheld module 130 mayinclude hardware (e.g., a GPS receiver) and/or software to enable someor all of the functionality of the controller module 140 and/or thebeacon module 150. For example, the handheld module 130 enable a user toissue a “follow-me” command to the movable imaging assembly 160 andtransmit position data for the handheld module 130 to the movableimaging assembly 160 to cause the movable imaging assembly 160 to followand capture images of a bearer of the handheld module. In someimplementations (not shown), the controller module 140 and/or the beaconmodule 150 may be omitted from the movable imaging system 100.

In some implementations (not shown), a handheld module, with featuressimilar to the handheld module 130, is integrated with an image capturemodule, with features similar to the image capture module 110, as acombined handheld image capture module. The combined handheld imagecapture module includes an image sensor, an integrated mechanicalstabilization system configure to control an orientation of the imagesensor, a display, a battery large enough to support operation similarto that described in the second usage scenario of FIG. 1B, and aconnector configured to be removably attached to an aerial vehicle,which may be similar to the aerial vehicle 120, or another movableplatform. For example, this aerial vehicle may include a hole ortransparent panel in the bottom of the aerial vehicle through which thedisplay and/or control interface of the combined handheld image capturemodule is visible and/or accessible while the combined handheld imagecapture module is attached to the aerial vehicle. For example, thisaccessible control interface may be used to control functions of thecombined handheld image capture module and/or the aerial vehicle whilethey are attached. In some implementations, the display to the combinedhandheld image capture module may be powered down by default when thecombined handheld image capture module is attached to the aerial vehicleor when in the air flying.

In some implementations (not shown), components and/or functionality ofthe controller module 140 and/or the beacon module 150 may be combinedin a single device. The consolidation of these two devices may lessenthe complexity, cost, and/or weight of the resulting movable imagingsystem with modular components.

In some implementations (not shown), a movable imaging system withmodular components includes an image capture module without anintegrated mechanical stabilization system that instead includes one ormore modular mechanical stabilization systems (e.g., gimbals and motors)that are configured to be removably attached to the image capture moduleand multiple movable platforms. The one or more modular mechanicalstabilization systems may be configured to control a relativeorientation of an image sensor of the image capture module and a movableplatform (e.g., an aerial vehicle or a handheld module) that iscurrently attached. For example, multiple modular mechanicalstabilization systems may be included in this movable imaging systemwith different size, weight, and performance characteristics that aresuited to different circumstances.

In some circumstances, it is desirable to track a target, which mayinclude one or more subjects, with a movable imaging assembly (e.g., themovable imaging assembly 160 or the movable imaging assembly 162).Various forms of tracking may be utilized, including those discussedbelow and in U.S. Provisional Patent Application Ser. No. 62/364,960,filed Jul. 21, 2016, and herein incorporated by reference in itsentirety. A tracking system may be utilized to implement the describedforms of tracking. The tracking system may comprise a processor andalgorithms that are used for tracking the target. A tracking system maybe included entirely within the movable imaging assembly (e.g., themovable imaging assembly 160 or the movable imaging assembly 162) orentirely within the controller module 140 or an external computingdevice (e.g., a smartphone, a tablet, or a laptop) in communication withthe movable imaging assembly, or portions of a tracking system may belocated or duplicated within a movable imaging assembly and thecontroller module 140 or an external computing device. A voicerecognition system may also be utilized to interact with the trackingsystem and issue commands (e.g., commands identifying or adjusting atarget).

FIGS. 2A and 2B are pictorial illustrations of an example of an imagecapture module 200 from two perspectives. The image capture module 200includes an image sensor 210 configured to capture images; a mechanicalstabilization system 220, including gimbals and motors (222, 224, and226); and a connector 230 configured to interchangeably connect themechanical stabilization system to an aerial vehicle (e.g., the aerialvehicle 120) and a handheld module (e.g., the handheld module 130).

The image capture module 200 includes an image sensor 210 configured tocapture images (e.g., still images or frames of video). The image sensor210 may be configured to detect light of a certain spectrum (e.g., thevisible spectrum or the infrared spectrum) and convey informationconstituting an image as electrical signals (e.g., analog or digitalsignals). For example, the image sensor 210 may include charge-coupleddevices (CCD) or active pixel sensors in complementarymetal-oxide-semiconductor (CMOS). The image capture module 200 includesa lens 212 (e.g., a wide-angle rectilinear lens). The image sensor 210detects light from the environment that is incident through the lens212.

The image capture module 200 may also include a processing apparatus(e.g., including memory, an image signal processor, a hardware encoder,a microcontroller, and/or other processor) that is configured to track auser based on position data from a beacon module (e.g., the beaconmodule 150) and/or based on computer vision tracking of the user inimages from the image sensor 210 in a first usage scenario, where theimage capture module 200 is attached to an aerial vehicle (e.g., theaerial vehicle 500), and/or in a second usage scenario, where the imagecapture module 200 is attached to an handheld module (e.g., the handheldmodule 300). In some implementations, the processing apparatus may beconfigured to perform image processing operations (e.g., correction ofdead pixels, band processing, decoupling of vertical blanking, spatialnoise reduction, temporal noise reduction, automatic white balance,global tone mapping, local tone mapping, lens distortion correction,electronic rolling shutter correction, electronic image stabilization,output projection, and/or encoding) on images captured by the imagesensor 210. In some implementations, some or all of the image processingoperations are performed on the images captured by the image sensor by aprocessing apparatus that is located in whole or in part in anothercomponent of a larger movable imaging system 100. For example, theprocessing apparatus may be located inside the connector 230 below thegimbal 226 of the mechanical stabilization system 220.

The image capture module 200 includes a mechanical stabilization system220, including gimbals and motors (222, 224, and 226) (e.g.,corresponding to pitch, yaw, and roll respectively), that is integratedwith the image sensor 210 in the image capture module 200 and configuredto control an orientation of the image sensor 210. For example, thegimbals and motors (222, 224, and 226) may enable rotation of the imagesensor with three degrees of freedom. In some implementations, thegimbals and motors (222, 224, and 226) respectively enable a wide rangeof rotation angles (e.g., up to 180 degrees, 270 degrees or 360degrees). A gimbal 226 of the mechanical stabilization system 220 issubstantially flush with a surface of the connector 230 causing themechanical stabilization system 220 to have a low profile and protectthe gimbal 226 from damage. In some implementations, the gimbal 226 iscontained entirely within a body of the connector 230, at or below thegrade of an outer surface of the connector 230. For example, themechanical stabilization system 220 may be controlled with a controller(e.g., a proportional integral derivative controller) based on targetorientations determined by a processing apparatus based on image datafrom the image sensor 210, motion sensor data from a motion sensor inthe image capture module 200 or moving platform (e.g., the aerialvehicle 120 or the handheld module 130) to which the image capturemodule 200 module is attached, and/or position data for a trackingtarget from a beacon (e.g., the beacon module 150).

The mechanical stabilization system 220 may be configured to enable anelectronically actuated transport mode. When many 3-axis gimbals arepowered off they simply float around aimlessly and are cumbersome to putaway or transport. In some implementations, the mechanical stabilizationsystem 220 is configured to enable an electronically actuated transportmode in which: upon the occurrence of triggering event (e.g., aspecialized user command or a command to power OFF the image capturemodule 200 or the mechanical stabilization system 220, each of thegimbals and motors (222, 224, and 226) are electronically controlled toassume a fold-flat position and maintain that position for a fixed timeperiod (e.g., 10, 30, or 60 seconds), allowing the user to easily slipthe image capture module 200 into a pocket, carrying case, backpack, orother container. After the time has expired, the mechanicalstabilization system 220 will completely power OFF allowing the gimbalarms to move freely, once in the desired transport location. In someimplementations, this electronically actuated transport mode can beaccompanied by a physical lock which is either integrated into thegimbal itself, or via an external means such as a bracket or carryingcase. For example, the electronically actuated transport mode may beimplemented using electronic motor position sensors, mechanicalfold-flat ability (range-of-motion), and firmware control (e.g.,implemented in a processing apparatus of the image capture module 200).

The image capture module 200 includes a connector 230 configured tointerchangeably connect the mechanical stabilization system 220 to anaerial vehicle (e.g., the aerial vehicle 120) in a first usage scenarioand a handheld module in a second usage scenario (e.g., the handheldmodule 130). The connector may be keyed to a slot of the aerial vehicleand keyed to a slot of the handheld module. The connector 230 is keyedby virtue of the shape of an outer surface of the connector 230, whichis fitted to the corresponding shape of the slot in the aerial vehicle(e.g., the aerial vehicle 500) and the corresponding shape in the slotof the handheld module (e.g., the handheld module 300). The keyed shapeof the connector 230 includes some asymmetry (i.e., the rectangularcross-section of the connector 230 that narrows, sloping inward, abouthalf way down the connector 230 on one side), which may facilitate easyconnection of the aerial vehicle and the handheld module to the imagecapture module 200 by preventing a user from accidentally inserting theconnector 230 in an improper orientation. For example, the connector 230may include a first fastening mechanism and a second fastening mechanismconfigured to secure the connector 230 when the image capture module 200is attached to the handheld module. The fastening mechanisms may beconfigured such that either of the first fastening mechanism and secondfastening mechanism is sufficient to secure the connector 230. Theconnector 230 includes an electrical connector (e.g., a universal serialbus (USB) type C connector) nested inside of the keyed outer portion ofthe connector 230. The electrical connector may include multipleconductors that can be used to provide power from a movable platform(e.g., the aerial vehicle 500 or the handheld module 300) to the imagecapture module 200 and transfer communication signals (e.g., USB 2.0,USB 3.0, I2C, SPI, and/or MIPI signals) between the movable platform andthe image capture module 200 when they are connected. In someimplementations, the connector 230 includes pairs of conductorsrespectively used to transfer power to the image capture module 200,bulk transfer data from the image capture module 200, transfer controlsignals to the image capture module 200, and transfer real-time videodata from the image capture module 200.

The connector may include an electrical connector (e.g., a universalserial bus (USB) type C connector) nested inside of the keyed outerportion of the connector. The electrical connector may include multipleconductors that can be used to provide power from the aerial vehicle 120to the image capture module 110 and transfer communication signals(e.g., USB 2.0, USB 3.0, I2C, SPI, and/or MIPI (Mobile IndustryProcessor Interface) signals) between the aerial vehicle 120 and theimage capture module 110 when they are connected. For example,conductors of the connection may be used to transfer power, high-speedbulk data transfers, real-time embedded control signaling, and/or rawvideo signals at a capture frame rate. For example, the connector mayinclude pairs of conductors respectively used to transfer power to theimage capture module 110, bulk transfer data from the image capturemodule 110, transfer control signals to the image capture module 110,and transfer real-time video data from the image capture module 110.

In the example of FIGS. 2A and 2B, the gimbal 226 of the mechanicalstabilization system 220 is substantially flush with a surface of theconnector 230. The gimbal 226 may be protected by a body of theconnector 230 to protect the gimbal from damage and/or the ingress ofdust. For example, gimbal 226 may be a roll gimbal and with acorresponding roll motor with a roll motor housing that is built intothe housing of the connector 230 so that the roll motor housing sitsbelow the grade of an outer surface of the connector 230 and is hiddenand/or protected. This configuration may provide advantages over othermechanical stabilization systems with all of their gimbals exposed(e.g., three axis gimbals exposed, including a roll axis motor housingsitting on top of a main housing). For example, locating the gimbal 226within the connector 230 and/or substantial flush with a surface of theconnector 230 may reduce amount of exposed gimbal parts, reduce heightof gimbal above a main housing, and/or simplify the overall design byreducing the number visible motor elements (e.g., from three gimbals twogimbals).

FIGS. 3A and 3B are pictorial illustrations of an example of a handheldmodule 300 from two perspectives. The handheld module 300 includes adisplay 310, a record button 320, a status indicator light 324, a firstfastening mechanism 330 and a second fastening mechanism 332, a slot 340with a shape matched to the connector 230 of the image capture module200, and a battery cover 350 with a battery release latch 352.

The handheld module 300 may be shaped such that it may be ergonomicallyheld in a hand during use while operating a touch display and/or abutton (e.g., the record button 320) of the handheld module 300. Theouter material may be selected to have a rubbery grip texture.

The handheld module 300 includes a user interface that allows a user tocontrol image capture with an attached image capture module (e.g., theimage capture module 200). The user interface includes the display 310for viewing captured images, the record button 320 for snapping stillimages or starting or stopping recording of video, and the statusindicator light 324. The status indicator light 324 may include amulti-color LED device and may reflect the status of an electronicconnection to an attached image capture module and/or a recording state.In some implementations, the display 310 is a touch-screen that enablesthe input of additional commands by a user. For example, a user mayinput commands to change a gimbal angle; enter “selfie-mode,” or“HiLight Tag” by voice command and/or input received via the touchinterface of the display 310 and/or a button of the handheld module 300.A “selfie-mode” function may rotate the gimbal 226 (e.g., rotate 180degrees), such that an image sensor (e.g., the image sensor 210) facesthe same direction as the display 310. A “HiLight Tag” function mayenable a user to mark an image or frames of video as significant withmetadata. For example, a “HighLight Tag” gesture may be defined for atouch screen interface of the display 310, which may enable a user togenerate portions of a video data temporally and/or spatially byspecifying an object or other portions of a frame as frames aredisplayed on the display 310.

The first fastening mechanism 330 and the second fastening mechanism 332are configured to secure the connector 230 of the image capture module200 when it is inserted in the slot 340 to attach the handheld module300 to the image capture module 200. The first fastening mechanism 330and the second fastening mechanism 332 include a button and a slider,respectively, that may be used to disengage the first fasteningmechanism 330 and the second fastening mechanism 332 in order todisconnect from and attached image capture module (e.g., the imagecapture module 200). Other types of fastening mechanisms are alsopossible.

The battery cover 350 may be opened using the battery release latch 352to access a battery of the handheld module 300 for replacement orrecharging. For example, multiple batteries may be used and swapped intothe handheld module 300 to enable continued use while one of thebatteries is charged in an external charger.

FIG. 4A is a pictorial illustration of an example of a handheld module300 oriented to be connected to an image capture module 200 to form amovable imaging assembly 400. The connector 230 of the image capturemodule 200 is keyed to the slot 340 of the handheld module 300. From theillustrated orientation, the image capture module 200 may be moved downto slide the connector 230 into the slot 340 to attach the image capturemodule 200 to the handheld module 300 to form the movable imagingassembly 400. When the connector 230 is inserted into the slot 340,paired fastening mechanisms (e.g., latches) in the connector 230 and theslot 340 may engage to secure the newly formed connection. For example,spring loaded latches may engage to secure the connection of the movableimaging assembly 400. As part of the connection, mated electronicconnectors (e.g., USB Type C connectors) nested in the connector 230 andthe slot 340 may engage to form an electronic connection includingmultiple conductors, which may be used to supply power from the handheldmodule 300 to image capture module 200 and to transfer control signalsand data (e.g., image data) between the attached modules of the movableimaging assembly 400.

When a user seeks to disconnect the handheld module 300 from the imagecapture module 200, they may release these fastening mechanisms. Forexample, latches may be manually released by a user using their fingerson buttons or release levers. In some implementations, two latches mustbe simultaneously released in order to disconnect the handheld module300 from the image capture module 200, which may reduce the risk ofaccidental disconnection. For example, a cycle of connecting anddisconnecting the handheld module 300 from the image capture module 200may only take a few seconds for a user to complete.

FIG. 4B is a pictorial illustration of an example of a movable imagingassembly 400 in communication with a personal computing device 420. Inthe usage scenario of FIG. 4B, the movable imaging assembly 400 is heldin a hand 410 of a user and is capturing images (e.g., still images orframes of video) of the user. The captured images are displayed on thedisplay 310 of the handheld module 300. The captured images may betransferred to the personal computing device 420 (e.g., a smartphone)via a wireless link 425 (e.g., using a Bluetooth link or a WiFi link).The personal computing device 420 may then be used to display and/orshare or otherwise transmit and distribute the captured images. Thepersonal computing device 420 may also be configured with an applicationthat may be used to remotely control image capture functions of themovable imaging assembly 400 and/or update software installed on aprocessing apparatus of the movable imaging assembly 400.

In this example, a gimbal 226 of the mechanical stabilization system issubstantially flush with a surface (e.g., the top surface) of thehandheld module 300 when the image capture module 200 is attached to thehandheld module 300. This may result in the mechanical stabilizationsystem and the image sensor having a low profile and protecting thegimbal 226 to reduce risk of damage to the gimbal 226. Thisconfiguration may provide advantages over other mechanical stabilizationsystems with all of their gimbals exposed (e.g., three axis gimbalsexposed, including a roll axis motor housing sitting on top of a mainhousing). For example, locating the gimbal 226 within the handheldmodule 300 and/or substantial flush with a surface of the handheldmodule 300 when the image capture module 200 is attached to the handheldmodule 300 may reduce amount of exposed gimbal parts, reduce height ofgimbal above a main housing, and/or simplify the overall design byreducing the number visible motor elements (e.g., from three gimbals twogimbals).

FIG. 5A is a pictorial illustration of an example of an aerial vehicle500. In this example, the aerial vehicle 500 is quadcopter drone. Theaerial vehicle 500 includes four propellers (520, 522, 524, and 526); aslot 530 that is shaped to match the connector 230 of the image capturemodule 200; and a detachable flight battery 540. The propellers (520,522, 524, and 526) are control surfaces that may be controlled viarespective motors to control the motion of the aerial vehicle 500. Forexample, the aerial vehicle 500 may include an electrical connector(e.g., a USB type C connector) nested in the slot 530 that includesmultiple conductors configured to transfer images and other data andcontrol signals between the aerial vehicle 500 and the image capturemodule 200 when they are attached by inserting the connector 230 in theslot 530. In some implementations, the detachable flight battery 540 maybe charged quickly with a high speed AC charging station when thedetachable flight battery 540 is removed from the aerial vehicle 500

FIG. 5B is a pictorial illustration of an example of a movable imagingassembly 550 in communication with a controller module 600 and a beaconmodule 650. The movable imaging assembly 550 is formed when the imagecapture module 200 is attached to the aerial vehicle 500 by insertingthe connector 230 into the slot 530. When the connector 230 is insertedinto the slot 530, paired fastening mechanisms (e.g., latches) in theconnector 230 and the slot 530 may engage to secure the newly formedconnection. For example, spring loaded latches may engage to secure theconnection of the movable imaging assembly 550. As part of theconnection, mated electronic connectors (e.g., USB Type C connectors)nested in the connector 230 and the slot 530 may engage to form anelectronic connection including multiple conductors, which may be usedto supply power from the aerial vehicle 500 to the image capture module200 and to transfer control signals and data (e.g., image data) betweenthe attached modules of the movable imaging assembly 550.

When a user seeks to disconnect the aerial vehicle 500 from the imagecapture module 200, they may release these fastening mechanisms. Forexample, latches may be manually released by a user using their fingerson buttons or release levers. In some implementations, two latches mustbe simultaneously released in order to disconnect the aerial vehicle 500from the image capture module 200, which may reduce the risk ofaccidental disconnection. For example, a cycle of connecting anddisconnecting the aerial vehicle 500 from the image capture module 200may only take a few seconds for a user to complete.

The movable imaging assembly 550 may be in communication via wirelesslinks with the controller module 600 and the beacon module 650. In someimplementations, the movable imaging assembly 550 is configured tocommunicate wirelessly with both the beacon module 650 and thecontroller module 600. Communicating with both the beacon module 650 andthe controller module 600 may allow a first user to actively monitorand/or control image capture of the images by the movable imagingassembly 550 from the controller module 600 while the movable imagingassembly 550 follows a second user or other object that is bearing thebeacon module 650 passively while moving. This may enable followingobjects (e.g., animals) that are unable to issue commands to the movableimaging assembly 550 or make the experience of being followed morenatural and less mentally taxing for the second user, so the second usercan focus their attention on other activities (e.g., skiing, surfing, ormountain biking). The first user can focus on optimizing other aspectsof image capture (e.g., choosing perspective on the subject, zooming, ortiming snaps of still images) while autonomous functions of the movableimaging assembly 550 handle the following and navigation tasks.

FIG. 6A is a pictorial illustration of an example of a controller module600. The controller module 600 may be configured to wirelesslycommunicate with a movable imaging assembly (e.g., the movable imagingassembly 400 or the movable imaging assembly 550) to control motion ofthe movable imaging assembly and/or capture of images. The controllermodule 600 includes a display 610 configured to present images capturedby the movable imaging assembly and status information for the movableimaging assembly. For example, the status information for the movableimaging assembly may include a battery remaining indicator, a videorecording indicator, an encoding state (e.g., 4K video at 30 frames persecond and a recording time), a flight mode (e.g., leash mode, mimicmode, or tripod mode), flight event notices, and/or user prompts. Thedisplay 610 may be a touch-screen display that enables the entry ofcommands (e.g., to select a subject/target for tracking from an imagedisplayed on the display 610). The controller module 600 includes a leftjoystick 620 and a right joystick 622 for controlling motion of themovable imaging assembly and/or panning of an image sensor (e.g., theimage sensor 210) using a mechanical stabilization system (e.g., themechanical stabilization system 220) of the movable imaging assembly.The controller module 600 includes buttons 630 including, for example, apower button and a record button. The controller module 600 may alsoinclude a microphone for receiving voice commands to be relayed to themovable imaging assembly.

FIG. 6B is a pictorial illustration of an example of a beacon module650. The beacon module 650 may be configured to wirelessly transmitposition data to a movable imaging assembly (e.g., the movable imagingassembly 400 or the movable imaging assembly 550) to enable the movableimaging assembly to follow the beacon module 650. The position data maybe transmitted via a wireless communications link. For example, thebeacon module 650 may include a location sensor, such as a GPS receiverand the position data may include GPS coordinates of the beacon module650. In some implementations, beacon module 650 includes an inertialmeasurement unit (e.g., including accelerometers, gyroscopes, and/ormagnetometers) and the position data includes changes in the positionand/or orientation of the beacon module 650 that are sensed by theinertial measurement unit. For example, the wireless communications linkmay utilize a wireless interface standard, such as WiFi, Bluetooth (BT),cellular data link, ZigBee, or ANT+. The beacon module 650 may bewaterproof and/or include a waterproof housing to enable users to bearthe beacon module 650 in a variety of usage scenarios.

The beacon module 650 includes a user interface that allows a user tomonitor status of the movable imaging assembly (e.g., the movableimaging assembly 400 or the movable imaging assembly 550) and/or issuesome commands to the movable imaging assembly via the wirelesscommunications link to cause the movable imaging assembly to move and/orcapture images. The beacon module 650 includes a display 660 forpresenting status information for the movable imaging assembly. Forexample, the status information for the movable imaging assembly mayinclude a battery remaining indicator, a video recording indicator, anencoding state (e.g., 4K video at 30 frames per second and a recordingtime), a flight mode (e.g., leash mode, mimic mode, or tripod mode),flight event notices, and/or user prompts. The beacon module 650includes a record button 670 to start and stop the capture of images.The beacon module 650 includes a take-off/land button 672 to instruct anaerial vehicle (e.g., the aerial vehicle 500) to take-off or land,depending on the current flight state. The beacon module 650 includes a“pause follow” button 674 to pause and resume a follow function (e.g.,by entering or leaving a tripod follow mode where the movable platformmaintains its current position, but may still track motions of a subjectby panning with a mechanical stabilization system). The beacon module650 includes buttons 680 for 3-D repositioning of the movable imagingassembly relative to the subject bearing the beacon module 650. Thebeacon module 650 may also include a microphone for receiving voicecommands (e.g., “follow-me,” “pause,” and “record”).

FIG. 7A is a block diagram of an example of a system 700 configured forimage capture. The system 700 includes an image capture device 710(e.g., the movable imaging assembly 160 or the movable imaging assembly162) that includes a processing apparatus 712 that is configured toreceive images from one or more image sensors 714. The image capturedevice 710 includes gimbals and motors 716 that are actuators of amechanical stabilization system configured to control an orientation ofthe one or more image sensors 714 (e.g., an orientation with respect toa movable platform). The gimbals and motors 716 may be controlled by acontroller of the mechanical stabilization system, which may beimplemented by the processing apparatus 712 (e.g., as a software moduleor a specialized hardware module). The processing apparatus 712 may beconfigured to perform image signal processing (e.g., filtering, tonemapping, stitching, electronic image stabilization, and/or encoding) togenerate output images based on image data from the one or more imagesensors 714. The image capture device 710 includes one or more motionsensors 718 configured to detect motion of the one or more image sensors714. The one or more motion sensors 718 may provide feedback signals tothe mechanical stabilization system. The image capture device 710includes a communications interface 722 for transferring images to otherdevices and/or receiving commands or other control signaling. The imagecapture device 710 includes a user interface 720, which may allow a userto control image capture functions and/or view images. The image capturedevice 710 includes a battery 724 for powering the image capture device710. For example, the system 700 may be used to implement processesdescribed in this disclosure, such as the process 800 of FIG. 8, theprocess 900 of FIG. 9, and the process 1000 of FIG. 10.

The processing apparatus 712 may include one or more processors havingsingle or multiple processing cores. The processing apparatus 712 mayinclude memory, such as random access memory device (RAM), flash memory,or any other suitable type of storage device such as a non-transitorycomputer readable memory. The memory of the processing apparatus 712 mayinclude executable instructions and data that can be accessed by one ormore processors of the processing apparatus 712. For example, theprocessing apparatus 712 may include one or more DRAM modules such asdouble data rate synchronous dynamic random-access memory (DDR SDRAM).In some implementations, the processing apparatus 712 may include adigital signal processor (DSP). In some implementations, the processingapparatus 712 may include an application specific integrated circuit(ASIC). For example, the processing apparatus 712 may include a customimage signal processor. In some implementations, the processingapparatus 712 may have multiple processing units in different portionsthe image capture device 710. For example, the processing apparatus 712may include a processor on a movable platform (e.g., the aerial vehicle120, the handheld module 130, the handheld module 300, or the aerialvehicle 500) and a processor in an image capture module (e.g., the imagecapture module 110 or the image capture module 200) that are removablyattached by a connector.

The one or more image sensors 714 are configured to capture images. Theone or more image sensors 714 are configured to detect light of acertain spectrum (e.g., the visible spectrum or the infrared spectrum)and convey information constituting an image as electrical signals(e.g., analog or digital signals). For example, the one or more imagesensors 714 may include charge-coupled devices (CCD) or active pixelsensors in complementary metal-oxide-semiconductor (CMOS). The one ormore image sensors 714 may detect light incident through respective lens(e.g., a rectilinear lens or a fisheye lens). In some implementations,the one or more image sensors 714 include analog-to-digital converters.In some implementations, the one or more image sensors 714 haverespective fields of view that overlap.

The mechanical stabilization system for the one or more image sensors714 includes the gimbals and motors 716. The gimbals and motors 716 maybe parts of a mechanical stabilization system (e.g., the mechanicalstabilization system 220). The gimbals and motors 716 may attach the oneor more image sensors 714 to a movable platform (e.g., the aerialvehicle 120 or the handheld module 130) via a connector (e.g., theconnector 230) and control their orientation. The gimbals and motors 716may span multiple axes (e.g., a 7-axis gimbal set with brushless directcurrent motors). The mechanical stabilization system may include acontroller (e.g., a proportional integral derivative (PID) controller).For example, the controller of the mechanical stabilization system maybe implemented by the processing apparatus 712 (e.g., as a softwaremodule or a specialized hardware module).

The one or more motion sensors 718 are configured to detect motion ofthe one or more image sensors 714. For example, the one or more motionsensors 718 may include parts of an inertial measurement unit (e.g.,including gyroscopes, accelerometers, and/or magnetometers) that ismounted in a housing with the one or more image sensors 714. In someimplementations, the one or more motion sensors 718 may include parts ofan inertial measurement unit that is mounted in a movable platform(e.g., the aerial vehicle 120 or the handheld module 130) of the imagecapture device 710. In some implementations, the one or more motionsensors 718 includes sensors (e.g., magnetic encoders, optical encoders,and/or potentiometers) that detect the state of the gimbals and motors716 to measure a relative orientation of the image sensor and a movableplatform of the image capture device 710. For example, the one or moremotion sensors 718 may include encoders configured to detect a positionand orientation of the image sensor relative to a movable platform(e.g., the aerial vehicle 120 or the handheld module 130). Theprocessing apparatus 712 may be configured to determine a sequence oforientation estimates based on sensor data from the one or more motionsensors 718. For example, determining the sequence of orientationestimates may include applying quadratic estimation to sensor data froma plurality of the one or more motion sensors 718. In someimplementations, the motion sensors include a GPS receiver thatgenerates GPS position data for the image capture device 710.

The image capture device 710 may include a user interface 720. Forexample, the user interface 720 may include an LCD display forpresenting images and/or messages to a user. For example, the userinterface 720 may include a touch-screen display for interactivelydisplaying images and other data and receiving user commands. Forexample, the user interface 720 may include a microphone for receivingvoice commands from a user. For example, the user interface 720 mayinclude a button or switch enabling a person to manually turn the imagecapture device 710 on and off. For example, the user interface 720 mayinclude a shutter button for snapping pictures.

The image capture device 710 may include a communications interface 722,which may enable communications with a personal computing device (e.g.,a smartphone, a tablet, a laptop computer, or a desktop computer) andone or more specialized controllers (e.g., the controller module 140and/or the beacon module 150). For example, the communications interface722 may be used to receive commands controlling image capture andprocessing in the image capture device 710. For example, thecommunications interface 722 may be used to transfer image data to apersonal computing device or a specialized controller controllers (e.g.,the controller module 140). For example, the communications interface722 may include a wired interface, such as a high-definition multimediainterface (HDMI), a universal serial bus (USB) interface, or a FireWireinterface. For example, the communications interface 722 may include awireless interface, such as a Bluetooth interface, a ZigBee interface,and/or a Wi-Fi interface.

The image capture device 710 may include a battery 724 that powers theimage capture device 710 and/or its peripherals. For example, thebattery 724 may be a detachable flight battery for an aerial vehicle.For example, the battery 724 may be a part of a handheld module. Forexample, the battery 724 may be charged wirelessly or through amicro-USB interface. In some implementations (not shown), the battery724 may be replaced by another type of power supply (e.g., a capacitorthat is charged by a circuit receiving power via an inductive coupling).

FIG. 7B is a block diagram of an example of a system 730 configured forimage capture. The system 730 includes an image capture device 740(e.g., the movable imaging assembly 160 or the movable imaging assembly162) and a personal computing device 760 that communicate via acommunications link 750. The image capture device 740 includes one ormore image sensors 742 that are configured to capture images. The imagecapture device 740 includes a communications interface 748 configured totransfer images via the communication link 750 to the personal computingdevice 760. The personal computing device 760 includes a processingapparatus 762 that is configured to receive, using the communicationsinterface 766, images from the one or more image sensors 742. The imagecapture device 740 includes gimbals and motors 744 that are actuators ofa mechanical stabilization system configured to control an orientationof the one or more image sensors 742 (e.g., an orientation with respectto a movable platform). The gimbals and motors 744 may be controlled bya controller of the mechanical stabilization system, which may beimplemented by the processing apparatus 762 (e.g., as a software moduleor a specialized hardware module) and provide control signals to themotors 744 via the communication link 750. The processing apparatus 762may be configured to perform image signal processing (e.g., filtering,tone mapping, stitching, electronic image stabilization, and/orencoding) to generate output images based on image data from the one ormore image sensors 742. The image capture device 740 includes one ormore motion sensors 746 configured to detect motion of the one or moreimage sensors 742. The one or more motion sensors 746 may providefeedback signals (e.g., via communication link 750 or internally withinthe image capture device 740) to the mechanical stabilization system.For example, the system 730 may be used to implement processes describedin this disclosure, such as the process 800 of FIG. 8, the process 900of FIG. 9, and the process 1000 of FIG. 10.

The one or more image sensors 742 are configured to capture images. Theone or more image sensors 742 are configured to detect light of acertain spectrum (e.g., the visible spectrum or the infrared spectrum)and convey information constituting an image as electrical signals(e.g., analog or digital signals). For example, the one or more imagesensors 742 may include charge-coupled devices (CCD) or active pixelsensors in complementary metal-oxide-semiconductor (CMOS). The one ormore image sensors 742 may detect light incident through respective lens(e.g., a rectilinear lens or a fisheye lens). In some implementations,the one or more image sensors 742 include analog-to-digital converters.In some implementations, the one or more image sensors 742 haverespective fields of view that overlap.

The processing apparatus 762 may include one or more processors havingsingle or multiple processing cores. The processing apparatus 762 mayinclude memory, such as random access memory device (RAM), flash memory,or any other suitable type of storage device such as a non-transitorycomputer readable memory. The memory of the processing apparatus 762 mayinclude executable instructions and data that can be accessed by one ormore processors of the processing apparatus 762. For example, theprocessing apparatus 762 may include one or more DRAM modules such asdouble data rate synchronous dynamic random-access memory (DDR SDRAM).In some implementations, the processing apparatus 762 may include adigital signal processor (DSP). In some implementations, the processingapparatus 762 may include an application specific integrated circuit(ASIC). For example, the processing apparatus 762 may include a customimage signal processor.

The mechanical stabilization system for the one or more image sensors742 includes the gimbals and motors 744. The gimbals and motors 744 maybe parts of a mechanical stabilization system (e.g., the mechanicalstabilization system 220). The gimbals and motors 744 may connect theone or more image sensors 742 to a movable platform and control theirorientation. The gimbals and motors 744 may span multiple axes (e.g., a7-axis gimbal set with brushless direct current motors). The mechanicalstabilization system may include a controller (e.g., a proportionalintegral derivative (PID) controller). For example, the controller ofthe mechanical stabilization system may be implemented by the processingapparatus 762 (e.g., as a software module or a specialized hardwaremodule). For example, the controller of the mechanical stabilizationsystem may be implemented by a specialized hardware module integratedwith the image capture device 740.

The one or more motion sensors 746 are configured to detect motion ofthe one or more image sensors 742. For example, the one or more motionsensors 746 may include parts of an inertial measurement unit (e.g.,including gyroscopes, accelerometers, and/or magnetometers) that ismounted in a housing with the one or more image sensors 742. In someimplementations, the one or more motion sensors 746 may include parts ofan inertial measurement unit that is mounted in a movable platform(e.g., the aerial vehicle 120 or the handheld module 130) of the imagecapture device 740. In some implementations, the one or more motionsensors 746 include sensors (e.g., magnetic encoders, optical encoders,and/or potentiometers) that detect the state of the gimbals and motors744 to measure a relative orientation of the image sensor and a movableplatform of the image capture device 740. For example, the one or moremotion sensors 746 may include encoders configured to detect a positionand orientation of the image sensor relative to a movable platform(e.g., the aerial vehicle 120 or the handheld module 130). Theprocessing apparatus 762 may be configured to determine a sequence oforientation estimates based on sensor data from the one or more motionsensors 746. For example, determining the sequence of orientationestimates may include applying quadratic estimation to sensor data froma plurality of the one or more motion sensors 746. In someimplementations, the motion sensors 746 include a GPS receiver thatgenerates GPS position data for the image capture device 740.

The communications link 750 may be a wired communications link or awireless communications link. The communications interface 748 and thecommunications interface 766 may enable communications over thecommunications link 750. For example, the communications interface 748and the communications interface 766 may include a high-definitionmultimedia interface (HDMI), a universal serial bus (USB) interface, aFireWire interface, a Bluetooth interface, a ZigBee interface, and/or aWi-Fi interface. For example, the communications interface 748 and thecommunications interface 766 may be used to transfer image data from theimage capture device 740 to the personal computing device 760 for imagesignal processing (e.g., filtering, tone mapping, stitching, and/orencoding) to generate output images based on image data from the one ormore image sensors 742. For example, the communications interface 748and the communications interface 766 may be used to transfer motionsensor data from the image capture device 740 to the personal computingdevice 760 for processing in a controller of a mechanical stabilizationsystem. For example, the communications interface 748 and thecommunications interface 766 may be used to transfer control signals tothe image capture device 740 from the personal computing device 760 forcontrolling the gimbals and motors 744 of a mechanical stabilizationsystem and/or motion of an aerial vehicle of the image capture device740.

The personal computing device 760 may include a user interface 764. Forexample, the user interface 764 may include a touchscreen display forpresenting images and/or messages to a user and receiving commands froma user. For example, the user interface 764 may include a button orswitch enabling a person to manually turn the personal computing device760 on and off. In some implementations, commands (e.g., start recordingvideo, stop recording video, snap photograph, or select tracking target)received via the user interface 764 may be passed on to the imagecapture device 740 via the communications link 750.

A user may switch between various usage scenarios of the movable imagingsystem 100, including the first usage scenario of FIG. 1A and the secondusage scenario of FIG. 1B, to tailor their mode of image capture tovarying circumstances. For example, a user may implement the process 800of FIG. 8 using the movable imaging system 100.

FIG. 8 is a flowchart of an example of a process 800 for utilizing amovable imaging system with modular components in multiple usagescenarios. The process 800 includes connecting 810 an image capturemodule, which includes an image sensor and an integrated mechanicalstabilization system, to an aerial vehicle; flying 820 the aerialvehicle with the image capture module attached to the aerial vehicle andcapturing a first image with the image sensor while flying;disconnecting 830 the image capture module from the aerial vehicle;connecting 840 the image capture module to a handheld module, whichincludes a battery; capturing 850 a second image with the image sensorwhile the image capture module is attached to the handheld module anddrawing power from the battery; storing, displaying, or transmitting 860output images based on the first image and the second image; anddisconnecting 870 the image capture module from the handheld module. Forexample, the process 800 may be implemented using the movable imagingsystem 100.

The process 800 includes connecting 810 an image capture module (e.g.,the image capture module 110), which includes an image sensor and anintegrated mechanical stabilization system, to an aerial vehicle (e.g.,the aerial vehicle 120). For example, the image capture module mayinclude a connector (e.g., the connector 230) that is keyed to a slot(e.g., the slot 530) of the aerial vehicle. For example, connecting 810the image capture module to the aerial vehicle may include inserting theconnector in the slot. When the connector is inserted into the slot,paired fastening mechanisms (e.g., latches) in the connector and theslot may engage to secure the newly formed connection. For example,spring loaded latches may engage to secure the connection. As part ofthe connection, mated electronic connectors (e.g., USB Type Cconnectors) nested in the connector and the slot may engage to form anelectronic connection including multiple conductors, which may be usedto supply power from the aerial vehicle to the image capture module andto transfer control signals and data (e.g., image data) between theattached image capture module and aerial vehicle. For example, themechanical stabilization system includes gimbals and motors controlledby proportional integral derivative controllers.

The process 800 includes flying 820 the aerial vehicle (e.g., the aerialvehicle 120) with the image capture module (e.g., the image capturemodule 110) attached to the aerial vehicle and capturing a first imagewith the image sensor while flying. For example, flying 820 the aerialvehicle and capturing the first image may include issuing commands(e.g., a take-off command, a “follow-me” command to track subject, astart-capture command, and/or six-degrees of freedom navigation andpanning commands) to the aerial vehicle and/or the image capture modulevia a wireless communications link from a controller module (e.g., thecontroller module 140), a beacon module (e.g., the beacon module 150),and/or a personal computing device (e.g., a smartphone, a tablet, or alaptop). For example, the aerial vehicle may be instructed to follow auser bearing a beacon module that transmits position data to the aerialvehicle. For example, the process 900 of FIG. 9 may be implemented tocontrol the aerial vehicle and attached image capture module with thecontroller module and the beacon module to cause it to capture the firstimage.

The process 800 includes disconnecting 830 the image capture module(e.g., the image capture module 110) from the aerial vehicle (e.g., theaerial vehicle 120). For example, disconnecting 830 the image capturemodule from the aerial vehicle may include releasing fasteningmechanisms of the connector (e.g., the connector 230) and the slot(e.g., the slot 530). For example, latches may be manually released by auser using their fingers on buttons or release levers. In someimplementations, two latches must be simultaneously released in order todisconnect 830 the aerial vehicle from the image capture module.

The process 800 includes connecting 840 the image capture module (e.g.,the image capture module 110) to a handheld module (e.g., the handheldmodule 130), which includes a battery and an integrated display. Forexample, the image capture module may include a connector (e.g., theconnector 230) that is keyed to a slot (e.g., the slot 340) of thehandheld module. For example, connecting 840 the image capture module tothe handheld module may include inserting the connector in the slot.When the connector is inserted into the slot, paired fasteningmechanisms (e.g., latches) in the connector and the slot may engage tosecure the newly formed connection. For example, spring loaded latchesmay engage to secure the connection. As part of the connection, matedelectronic connectors (e.g., USB Type C connectors) nested in theconnector and the slot may engage to form an electronic connectionincluding multiple conductors, which may be used to supply power fromthe battery to the image capture module and to transfer control signalsand data (e.g., image data) between the attached image capture moduleand handheld module.

The process 800 includes capturing 850 a second image with the imagesensor while the image capture module (e.g., the image capture module110) is attached to the handheld module (e.g., the handheld module 130)and drawing power from the battery. For example, capturing 850 thesecond image may include issuing commands (e.g., a “follow-me” commandto track subject, a “selfie-mode” command, a “HiLight Tag” command, astart-capture command, and/or three-degrees of freedom panning commands)to the handheld module and/or the image capture module via a wirelesscommunications link from a controller module (e.g., the controllermodule 140), a beacon module (e.g., the beacon module 150), and/or apersonal computing device (e.g., a smartphone, a tablet, or a laptop).For example, the handheld module may be instructed to follow a userbearing a beacon module that transmits position data to the handheldmodule.

The process 800 includes storing, displaying, or transmitting 860 outputimages based on the first image and the second image. For example, theprocess 1000 of FIG. 10 may be implemented to transmit and display 860an output image based on the second image. In some implementations, oneof the output image is the first image. In some implementations, one ofthe output images is the second image. In some implementations, thefirst image and the second image may by subject to additional imageprocessing (e.g., perceptual tone mapping, lens distortion correction,electronic rolling shutter correction, stitching with parallaxcorrection and blending to combine images from multiple image sensors,and/or output projection) to determine respective output images. Forexample, the output images may be transmitted 860 to an external device(e.g., a personal computing device) for display or storage. For example,the output images may be stored 860 in memory of a processing apparatus(e.g., the processing apparatus 712 or the processing apparatus 762).For example, the output images may be displayed 860 in the userinterface 720 or in the user interface 764. For example, the outputimages may be transmitted 860 via the communications interface 722.

The process 800 includes disconnecting 870 the image capture module(e.g., the image capture module 110) from the handheld module (e.g., thehandheld module 130). For example, disconnecting 870 the image capturemodule from the handheld module may include releasing fasteningmechanisms of the connector (e.g., the connector 230) and the slot(e.g., the slot 340). For example, latches may be manually released by auser using their fingers on buttons or release levers. In someimplementations, two latches must be simultaneously released in order todisconnect 830 the handheld module from the image capture module.

FIG. 9 is a flowchart of an example of a process 900 for controlling amovable imaging assembly for image capture using a controller module anda beacon module. The process 900 includes transmitting 910 commands viawireless communications from a controller module to the aerial vehicleto cause an aerial vehicle to follow a user bearing a beacon module thattransmits position data to the aerial vehicle; receiving 920 image dataat the controller module from the image sensor via wirelesscommunications from the aerial vehicle; and displaying 930 images of theuser on a display of the controller module. For example, the process 800may be implemented using the movable imaging system 100.

The process 900 includes transmitting 910 commands via wirelesscommunications from a controller module (e.g., the controller module140) to an aerial vehicle (e.g., the aerial vehicle 120) to cause theaerial vehicle to follow a user bearing a beacon module (e.g., thebeacon module 150) that transmits position data to the aerial vehicle.For example, the beacon module may include a GPS receiver and theposition data may include GPS coordinates of the beacon module. In someimplementations, beacon module includes an inertial measurement unit(e.g., including accelerometers, gyroscopes, and/or magnetometers) andthe position data includes changes in the position and/or orientation ofthe beacon module that are sensed by the inertial measurement unit. Forexample, the wireless communications may utilize a wireless interfacestandard, such as WiFi, Bluetooth (BT), cellular data link, ZigBee, orANT+.

The process 900 includes receiving 920 image data at the controllermodule (e.g., the controller module 140) from the image sensor viawireless communications from the aerial vehicle (e.g., the aerialvehicle 120). The process 900 includes displaying 930 images of the useron a display (e.g., the display 610) of the controller module (e.g., thecontroller module 140).

FIG. 10 is a flowchart of an example of a process 1000 for displayingimages captured with an image capture module (e.g., the image capturemodule 110) on a connected handheld module (e.g., the handheld module130). The process 1000 includes transmitting 1010 an image to thehandheld module via conductors of a connector (e.g., the connector 230)that is used to connect the image capture module to a handheld moduleand displaying 1020 the second image on a display (e.g., the display310) of the handheld module. For example, the image may be transmitted1010 via high-speed bulk transfer (e.g., using a USB 2.0 or USB 3.0signaling) over the conductors. For example, the image may betransmitted 1010 as raw image (e.g., video) data at the captured framerate using MIPI signaling. In some implementations, the image istransmitted 1010 via multiple pairs of conductors of the connector,which may include a USB Type C connector.

When the movable imaging assembly 162, including the handheld module130, is mounted to a chest or shoulder, a user may want to rotate thehandle clockwise or counter-clockwise for off-center capture duringactivities such as snowboarding. A floating pivot quick release mountfor the handheld module 130 may allow a user to rotate the movableimaging assembly 162 to 180° quickly and easily during use to enableoff-center capture. A movable imaging assembly 162 is inserted downwardinto gap in a soft inner frame of the mount with a cross-sectionapproximately matching a horizontal cross-section of the handheld module130. Once snug within the inner frame, a cantilevered latch on a hardouter frame is rotated to a closed/locked position. One or more cablesare attached to the latch and wrapped around the outer frame and afloating finger mount. By locking the latch closed, the one or morecables are tightened to secure the floating finger mount in place withsufficient force to keep the floating finger mount locked in positionduring active use. The outer frame and floating finger mount may have atextured, grooved, or angled contact surface to assist with maintaininga fixed position when locked in place.

While the disclosure has been described in connection with certainembodiments, it is to be understood that the disclosure is not to belimited to the disclosed embodiments but, on the contrary, is intendedto cover various modifications and equivalent arrangements includedwithin the scope of the appended claims, which scope is to be accordedthe broadest interpretation so as to encompass all such modificationsand equivalent structures as is permitted under the law.

What is claimed is:
 1. A system comprising: an image capture moduleincluding an image sensor configured to capture images, a connector, andan integrated mechanical stabilization system configured to control anorientation of the image sensor relative to the connector; an aerialvehicle configured to be removably attached to the image capture moduleby the connector and to fly while carrying the image capture module; anda handheld module configured to be removably attached to the imagecapture module by the connector, wherein the handheld module includes abattery and an integrated display configured to display images receivedfrom the image sensor.
 2. The system of claim 1, comprising: a beaconmodule configured to wirelessly transmit position data to the aerialvehicle to enable the aerial vehicle to follow the beacon module.
 3. Thesystem of claim 2, wherein the aerial vehicle is configured to follow auser based on position data from the beacon module and based on computervision tracking of the user in images from the image capture module. 4.The system of claim 2, comprising: a controller module configured towirelessly communicate with the aerial vehicle to control motion of theaerial vehicle and capture of images using the image sensor while theimage capture module is attached to the aerial vehicle; and wherein theaerial vehicle is configured to communicate wirelessly with both thebeacon module and the controller module.
 5. The system of claim 1,wherein the connector is keyed to a slot of the aerial vehicle and keyedto a slot of the handheld module.
 6. The system of claim 1, wherein thehandheld module includes a first fastening mechanism and a secondfastening mechanism configured to secure the connector when the imagecapture module is attached to the handheld module, and wherein either ofthe first fastening mechanism and second fastening mechanism issufficient to secure the connector.
 7. The system of claim 1, wherein agimbal of the mechanical stabilization system is substantially flushwith a surface of the handheld module when the image capture module isattached to the handheld module.
 8. The system of claim 1, wherein theconnector includes pairs of conductors respectively used to transferpower to the image capture module, bulk transfer data from the imagecapture module, transfer control signals to the image capture module,and transfer real-time video data from the image capture module.
 9. Amethod comprising: connecting an image capture module, which includes animage sensor and an integrated mechanical stabilization system, to anaerial vehicle; flying the aerial vehicle with the image capture moduleattached to the aerial vehicle and capturing a first image with theimage sensor while flying; disconnecting the image capture module fromthe aerial vehicle; connecting the image capture module to a handheldmodule, which includes a battery and an integrated display; andcapturing a second image with the image sensor while the image capturemodule is attached to the handheld module and drawing power from thebattery.
 10. The method of claim 9, comprising: transmitting the secondimage to the handheld module via conductors of a connector that is usedto connect the image capture module to a handheld module; and displayingthe second image on the display of the handheld module.
 11. The methodof claim 9, comprising: instructing the aerial vehicle to follow a userbearing a beacon module that transmits position data to the aerialvehicle.
 12. The method of claim 9, comprising: transmitting commandsvia wireless communications from a controller module to the aerialvehicle to cause the aerial vehicle to follow a user bearing a beaconmodule that transmits position data to the aerial vehicle; receivingimage data at the controller module from the image sensor via wirelesscommunications from the aerial vehicle; and displaying images of theuser on a display of the controller module.
 13. The method of claim 9,comprising: storing, displaying, or transmitting output images based onthe first image and the second image.
 14. The method of claim 9, inwhich the mechanical stabilization system includes gimbals and motorscontrolled by proportional integral derivative controllers.
 15. An imagecapture module comprising: an image sensor configured to capture images;a mechanical stabilization system, including gimbals and motors, that isintegrated with the image sensor in the image capture module andconfigured to control an orientation of the image sensor; and aconnector configured to interchangeably connect the mechanicalstabilization system to an aerial vehicle in a first usage scenario anda handheld module in a second usage scenario, wherein a gimbal of themechanical stabilization system is substantially flush with a surface ofthe connector.
 16. The image capture module of claim 15, comprising aprocessing apparatus configured to: track a user based on position datafrom a beacon module and based on computer vision tracking of the userin images from the image sensor when in the first usage scenario. 17.The image capture module of claim 15, comprising a processing apparatusconfigured to: track a user based on position data from a beacon moduleand based on computer vision tracking of the user in images from theimage sensor when in the second usage scenario.
 18. The image capturemodule of claim 15, wherein the connector is keyed to a slot of theaerial vehicle and keyed to a slot of the handheld module.
 19. The imagecapture module of claim 15, wherein the connector includes a firstfastening mechanism and a second fastening mechanism configured tosecure the connector when the image capture module is attached to thehandheld module, and wherein either of the first fastening mechanism andsecond fastening mechanism is sufficient to secure the connector. 20.The image capture module of claim 15, wherein a gimbal of the mechanicalstabilization system is substantially flush with a surface of thehandheld module when the image capture module is attached to thehandheld module.
 21. The image capture module of claim 15, wherein theconnector includes pairs of conductors respectively used to transferpower to the image capture module, bulk transfer data from the imagecapture module, transfer control signals to the image capture module,and transfer real-time video data from the image capture module.